G151031 車両連結型ロボットの冗長性を生かしたSLAMに関する基礎研究([G151-03]ロボティクスメカトロニクス部門,一般セッション(3))  [in Japanese] G151031 Basic study on SLAM utilizing the redundancy of an articulated vehicle robot  [in Japanese]

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Abstract

In this study,we study an articulated vehicle robot which achieves self-localization and mapping on two dimensional space.Each vehicle of the robot equips infrared sensors to measure the distance and encoders to measure the amount of rotation of the crawler.We propose an algorithm to improve the self-localization estimated by odometry.It is realized by using the ICP scan matching algorithm with scaned range data by infrared sensors redundantly.The experimental results shows the validity of the proposed method.

Journal

  • The Proceedings of Mechanical Engineering Congress, Japan

    The Proceedings of Mechanical Engineering Congress, Japan 2013(0), _G151031-1-_G151031-4, 2013

    The Japan Society of Mechanical Engineers

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